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<div class="title">keypoint.hpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2012, Willow Garage, Inc.</span></div>
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<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
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<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
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<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> *  keypoint.hpp</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> *  Created on: May 28, 2012</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="comment"> *      Author: somani</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#ifndef PCL_2D_KEYPOINT_HPP_</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#define PCL_2D_KEYPOINT_HPP_</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160; </div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/2d/edge.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;pcl/2d/convolution.h&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#include &lt;limits&gt;</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160; </div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="keywordtype">void</span></div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;pcl::keypoint::harrisCorner (ImageType &amp;output, ImageType &amp;input, <span class="keyword">const</span> <span class="keywordtype">float</span> sigma_d, <span class="keyword">const</span> <span class="keywordtype">float</span> sigma_i, <span class="keyword">const</span> <span class="keywordtype">float</span> alpha, <span class="keyword">const</span> <span class="keywordtype">float</span> thresh){</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160; </div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  <span class="comment">/*creating the gaussian kernels*/</span></div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  ImageType kernel_d;</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  ImageType kernel_i;</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  conv_2d.gaussianKernel  (5, sigma_d, kernel_d);</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  conv_2d.gaussianKernel  (5, sigma_i, kernel_i);</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160; </div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  <span class="comment">/*scaling the image with differentiation scale*/</span></div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  ImageType smoothed_image;</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  conv_2d.convolve  (smoothed_image, kernel_d, input);</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160; </div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  <span class="comment">/*image derivatives*/</span></div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  ImageType I_x, I_y;</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  edge_detection.ComputeDerivativeXCentral  (I_x, smoothed_image);</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  edge_detection.ComputeDerivativeYCentral  (I_y, smoothed_image);</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160; </div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  <span class="comment">/*second moment matrix*/</span></div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;  ImageType I_x2, I_y2, I_xI_y;</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  imageElementMultiply  (I_x2, I_x, I_x);</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  imageElementMultiply  (I_y2, I_y, I_y);</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  imageElementMultiply  (I_xI_y, I_x, I_y);</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160; </div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  <span class="comment">/*scaling second moment matrix with integration scale*/</span></div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  ImageType M00, M10, M11;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  conv_2d.convolve  (M00, kernel_i, I_x2);</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;  conv_2d.convolve  (M10, kernel_i, I_xI_y);</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  conv_2d.convolve  (M11, kernel_i, I_y2);</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160; </div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  <span class="comment">/*harris function*/</span></div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">size_t</span> height = input.size ();</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">size_t</span> width = input[0].size ();</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;  output.resize (height);</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; height; i++)</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;  {</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    output[i].resize (width);</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> j = 0; j &lt; width; j++)</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;    {</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;      output[i][j] = M00[i][j] * M11[i][j] - (M10[i][j] * M10[i][j]) - alpha * ((M00[i][j] + M11[i][j]) * (M00[i][j] + M11[i][j]));</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;      <span class="keywordflow">if</span> (thresh != 0)</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;      {</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;        <span class="keywordflow">if</span> (output[i][j] &lt; thresh)</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;          output[i][j] = 0;</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;          output[i][j] = 255;</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;      }</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;    }</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;  }</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160; </div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;  <span class="comment">/*local maxima*/</span></div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 1; i &lt; height - 1; i++)</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;  {</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> j = 1; j &lt; width - 1; j++)</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    {</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;      <span class="keywordflow">if</span> (output[i][j] &gt; output[i - 1][j - 1] &amp;&amp; output[i][j] &gt; output[i - 1][j] &amp;&amp; output[i][j] &gt; output[i - 1][j + 1] &amp;&amp;</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;          output[i][j] &gt; output[i][j - 1] &amp;&amp; output[i][j] &gt; output[i][j + 1] &amp;&amp;</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;          output[i][j] &gt; output[i + 1][j - 1] &amp;&amp; output[i][j] &gt; output[i + 1][j] &amp;&amp; output[i][j] &gt; output[i + 1][j + 1])</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;        ;</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;      <span class="keywordflow">else</span></div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;        output[i][j] = 0;</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;    }</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;  }</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;}</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160; </div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;<span class="keywordtype">void</span></div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;pcl::keypoint::hessianBlob (ImageType &amp;output, ImageType &amp;input, <span class="keyword">const</span> <span class="keywordtype">float</span> sigma, <span class="keywordtype">bool</span> SCALED){</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;  <span class="comment">/*creating the gaussian kernels*/</span></div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;  ImageType kernel, cornerness;</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;  conv_2d.gaussianKernel  (5, sigma, kernel);</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160; </div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;  <span class="comment">/*scaling the image with differentiation scale*/</span></div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;  ImageType smoothed_image;</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;  conv_2d.convolve  (smoothed_image, kernel, input);</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160; </div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;  <span class="comment">/*image derivatives*/</span></div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;  ImageType I_x, I_y;</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;  edge_detection.ComputeDerivativeXCentral  (I_x, smoothed_image);</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;  edge_detection.ComputeDerivativeYCentral  (I_y, smoothed_image);</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160; </div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;  <span class="comment">/*second moment matrix*/</span></div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;  ImageType I_xx, I_yy, I_xy;</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;  edge_detection.ComputeDerivativeXCentral  (I_xx, I_x);</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;  edge_detection.ComputeDerivativeYCentral  (I_xy, I_x);</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;  edge_detection.ComputeDerivativeYCentral  (I_yy, I_y);</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;  <span class="comment">/*Determinant of Hessian*/</span></div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">size_t</span> height = input.size ();</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">size_t</span> width = input[0].size ();</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;  <span class="keywordtype">float</span> min = std::numeric_limits&lt;float&gt;::max();</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;  <span class="keywordtype">float</span> max = std::numeric_limits&lt;float&gt;::min();</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;  cornerness.resize (height);</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; height; i++)</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;  {</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;    cornerness[i].resize (width);</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> j = 0; j &lt; width; j++)</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;    {</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;      cornerness[i][j] = sigma*sigma*(I_xx[i][j]+I_yy[i][j]-I_xy[i][j]*I_xy[i][j]);</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;      <span class="keywordflow">if</span>(SCALED){</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;        <span class="keywordflow">if</span>(cornerness[i][j]  &lt; min)</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;          min = cornerness[i][j];</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;        <span class="keywordflow">if</span>(cornerness[i][j] &gt; max)</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;          max = cornerness[i][j];</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;      }</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;    }</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160; </div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;    <span class="comment">/*local maxima*/</span></div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;    output.resize (height);</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;    output[0].resize (width);</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;    output[height-1].resize (width);</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 1; i &lt; height - 1; i++)</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;    {</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;      output[i].resize (width);</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> j = 1; j &lt; width - 1; j++)</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;      {</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;        <span class="keywordflow">if</span>(SCALED)</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;          output[i][j] = ((cornerness[i][j]-min)/(max-min));</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;          output[i][j] = cornerness[i][j];</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;      }</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;    }</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;  }</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;}</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160; </div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;<span class="keywordtype">void</span></div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;pcl::keypoint::hessianBlob (ImageType &amp;output, ImageType &amp;input, <span class="keyword">const</span> <span class="keywordtype">float</span> start_scale, <span class="keyword">const</span> <span class="keywordtype">float</span> scaling_factor, <span class="keyword">const</span> <span class="keywordtype">int</span> num_scales){</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">size_t</span> height = input.size();</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">size_t</span> width = input[0].size();</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">int</span> local_search_radius = 1;</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;  <span class="keywordtype">float</span> scale = start_scale;</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;  std::vector&lt;ImageType&gt; cornerness;</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;  cornerness.resize(num_scales);</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;  <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i = 0;i &lt; num_scales;i++){</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;    hessianBlob(cornerness[i], input, scale, <span class="keyword">false</span>);</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;    scale *= scaling_factor;</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;  }</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;  <span class="keywordtype">bool</span> non_max_flag = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;  <span class="keywordtype">float</span> scale_max, local_max;</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;  <span class="keywordflow">for</span>(<span class="keywordtype">size_t</span> i = 0;i &lt; height;i++){</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;    <span class="keywordflow">for</span>(<span class="keywordtype">size_t</span> j = 0;j &lt; width;j++){</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;      scale_max = std::numeric_limits&lt;float&gt;::min();</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;      <span class="comment">/*default output in case of no blob at the current point is 0*/</span></div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;      output[i][j] = 0;</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;      <span class="keywordflow">for</span>(<span class="keywordtype">int</span> k = 0;k &lt; num_scales;k++){</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;        <span class="comment">/*check if the current point (k,i,j) is a maximum in the defined search radius*/</span></div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;        non_max_flag = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;        local_max = cornerness[k][i][j];</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;        <span class="keywordflow">for</span>(<span class="keywordtype">int</span> n = -local_search_radius; n &lt;= local_search_radius;n++){</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;          <span class="keywordflow">if</span>(n+k &lt; 0 || n+k &gt;= num_scales)</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;            <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;          <span class="keywordflow">for</span>(<span class="keywordtype">int</span> l = -local_search_radius;l &lt;= local_search_radius;l++){</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;            <span class="keywordflow">if</span>(l+i &lt; 0 || l+i &gt;= height)</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;              <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;            <span class="keywordflow">for</span>(<span class="keywordtype">int</span> m = -local_search_radius; m &lt;= local_search_radius;m++){</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;              <span class="keywordflow">if</span>(m+j &lt; 0 || m+j &gt;= width)</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;                <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;              <span class="keywordflow">if</span>(cornerness[n+k][l+i][m+j] &gt; local_max){</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;                non_max_flag = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;                <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;              }</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;            }</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;            <span class="keywordflow">if</span>(non_max_flag)</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;              <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;          }</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;          <span class="keywordflow">if</span>(non_max_flag)</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;            <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;        }</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;        <span class="comment">/*if the current point is a point of local maximum, check if it is a maximum point across scales*/</span></div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;        <span class="keywordflow">if</span>(!non_max_flag){</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;          <span class="keywordflow">if</span>(cornerness[k][i][j] &gt; scale_max){</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;            scale_max = cornerness[k][i][j];</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;            <span class="comment">/*output indicates the scale at which the blob is found at the current location in the image*/</span></div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;            output[i][i] = start_scale*pow(scaling_factor, k);</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;          }</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;        }</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;      }</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;    }</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;  }</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;}</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160; </div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;<span class="keywordtype">void</span></div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;pcl::keypoint::imageElementMultiply (ImageType &amp;output, ImageType &amp;input1, ImageType &amp;input2){</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">size_t</span> height = input1.size ();</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">size_t</span> width = input1[0].size ();</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;  output.resize (height);</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; height; i++)</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;  {</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;    output[i].resize (width);</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> j = 0; j &lt; width; j++)</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;    {</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;      output[i][j] = input1[i][j] * input2[i][j];</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;    }</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;  }</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;}</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160; </div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">// PCL_2D_KEYPOINT_HPP_</span></div>
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